From 3b31c2d9d38bf10e074d3c0d9a264b64895cfd09 Mon Sep 17 00:00:00 2001
From: Pepijn <pepijn@huggingface.co>
Date: Tue, 25 Nov 2025 16:25:58 +0100
Subject: [PATCH] pass stats

---
 src/lerobot/policies/factory.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/lerobot/policies/factory.py b/src/lerobot/policies/factory.py
index 732b1fa30..12dfb1aa0 100644
--- a/src/lerobot/policies/factory.py
+++ b/src/lerobot/policies/factory.py
@@ -433,6 +433,9 @@ def make_policy(
         cfg.input_features = {key: ft for key, ft in features.items() if key not in cfg.output_features}
     kwargs["config"] = cfg
     
+    # Pass dataset_stats to the policy if available (needed for some policies like SARM)
+    if ds_meta is not None and hasattr(ds_meta, 'stats'):
+        kwargs["dataset_stats"] = ds_meta.stats
 
     if cfg.pretrained_path:
         # Load a pretrained policy and override the config if needed (for example, if there are inference-time